DC Field | Value | Language |
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dc.date.accessioned | 2016-04-01T08:54:20Z | - |
dc.date.available | 2016-04-01T08:54:20Z | - |
dc.date.issued | 2009-01 | - |
dc.identifier.issn | 1555-1423 | - |
dc.identifier.other | 2009-OAK-0000016499 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/29025 | - |
dc.description.abstract | Algorithms for planning quasistatic attitude maneuvers based on the Jacobian of the forward kinematic mapping of fully-reversed (FR) sequences of rotations are proposed in this paper An FR sequence of rotations is a series of finite rotations that consists of initial rotations about the axes of a body-fixed coordinate frame and subsequent rotations that undo these initial rotations. Unlike the Jacobian of conventional systems such as a robot manipulator, the Jacobian of the system manipulated through FR rotations is a null matrix at the identity, which leads to a total breakdown of the traditional Jacobian formulation. Therefore, the Jacobian algorithm is reformulated and implemented so as to synthesize an FR sequence for a desired rotational displacement. The Jacobian-based algorithm presented in this paper identifies particular six-rotation FR sequences that synthesize desired orientations. We developed the single-step and the multiple-step Jacobian methods to accomplish a given task using six-rotation FR sequences. The single-step Jacobian method identifies a specific FR sequence for a given desired orientation and the multiple-step Jacobian algorithm synthesizes physically feasible FR rotations on an optimal path. A comparison with existing algorithms verifies the fast convergence ability of the Jacobian-based algorithm. Unlike closed-form solutions to the inverse kinematics problem, the Jacobian-based algorithm determines the most efficient FR sequence that yields a desired rotational displacement through a simple and inexpensive numerical calculation. The procedure presented here is useful for those motion planning problems wherein the Jacobian is singular or null. [DOI: 10.1115/1.3007903] | - |
dc.description.statementofresponsibility | X | - |
dc.publisher | ASME-AMER SOC MECHANICAL ENG | - |
dc.subject | attitude control | - |
dc.subject | fully-reversed sequences of rotations | - |
dc.subject | noncommutativity of finite rigid rotations | - |
dc.subject | Jacobian algorithm | - |
dc.subject | inverse kinematics | - |
dc.subject | motion planning | - |
dc.subject | RIGID-BODY | - |
dc.subject | STABILIZATION | - |
dc.title | A Jacobian-Based Algorithm for Planning Attitude Maneuvers Using Forward and Reverse Rotations | - |
dc.type | Article | - |
dc.identifier.doi | 10.1115/1.3007903 | - |
dc.relation.volume | 4 | - |
dc.relation.issue | 1 | - |
dc.publisher.location | US | - |
dc.relation.journal | JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCIE | - |
dc.collections.name | Journal Papers | - |
dc.type.docType | Article | - |
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